Paper Info
Title
Connectivity of Thetis, a Distributed Hybrid Simulator, with a Mixed Control Architecture
Abstract
The purpose of this paper is to present the linkage of Thetis (a real time multi-vehicles hybrid simulator for heterogeneous vehicles) with a control architecture for the management of contextual tasks on AUVs (Autonomous Underwater Vehicle), both developed at LIRMM (France). An AUV is mainly composed of an onboard informatics system and a set of sensors and actuators. We design a 2-layer control architecture (global supervisor, local supervisors, and a set of management modules which are in charge of the means of perception and actions), allowing for facing Hardware (embedded instrumentation) and software evolutions. Due to the complexity and the sophistication of the control of actual underwater systems, it is necessary to check the embedded robot controller, i.e. all its constitutive hardware and software sub-systems before beginning any real mission. To achieve this goal it's possible to call upon simulation, thus avoiding heavy and numerous experimentations. Thetis is able to provide the necessary environment to test real robots and their interactions (communication and collision detection). Indeed this simulator allows hardware in loop simulations with the support of virtual sensors.The paper first describes the architecture and functionalities of Thetis, then the control architecture of our AUVs is briefly presented. We conclude with the advantages of connecting the 2 systems together.
Year
DOI
Venue
2008
10.1109/ICAS.2008.41
ICAS
Keywords
Field
DocType
control engineering computing,mobile robots,multi-robot systems,underwater vehicles,AUV,Thetis,autonomous underwater vehicle,distributed hybrid simulator,embedded robot controller,mixed control architecture,multi-vehicles hybrid simulator,AUV,Hardware in loop simulation,Hybrid simulation
Remotely operated underwater vehicle,Embedded software,Computer science,Simulation,Hardware-in-the-loop simulation,Software,Control system,Robot,Embedded instrumentation,Mobile robot,Embedded system
Conference
Citations 
PageRank 
References 
1
0.61
1
Authors
3
Name
Order
Citations
PageRank
Olivier Parodi172.11
Abdellah El Jalaoui221.46
David Andreu3166.28